Collaborative system for a team of unmanned vehicles

• US 7,451,023 B2
• Filed: 07/25/2005
• Issued: 11/11/2008
• Est. Priority Date: 07/25/2005
• Status: Expired due to Fees

• Current Assignee: Charles Stark Draper Laboratory Incorporated, Lockheed Martin Corporation (Martin Marietta Corporation)
• Original Assignee: Lockheed Martin Corporation (Martin Marietta Corporation)
• Inventors: Szczerba, Robert J., Jameson, Stephen M., Franke, Jerry L., Tleon, Joel J., Jung, Adam, Appleby, Brent D.
• Primary Examiner(s): Zanelli; Michael J.
• Application Number:
  US11/188,830
• Publication Number:
  US 20070021880A1
• Time in Patent Office: 1,205 Days
• Field of Search: None
• US Class Current: 701/24
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/104 involving a plurality of aircrafts, e.g. formation flying traffic control systems for aircraft G08G5/00

Abstract

A system collaboratively and autonomously plans and controls a team of unmanned vehicles within an environment. A mission planning component creates a mission plan for a plurality of members of the team of unmanned vehicles. The mission planning component creates a task plan for each member based on the mission plan. A collaboration component assigns members to the team and roles for the assigned members. The collaboration component updates membership and roles of the members based on the changing situation of the environment. A situational awareness component evaluates the changing situation of the environment based on information from the assigned members of the team. A contingency management component monitors the changing situation of the environment. The contingency management component monitors changes of capabilities of the assigned members of the team and execution of the mission plan and task plans. The contingency management component determines whether to update any of the group consisting of the mission plan and the task plans. A vehicle management component controls movement of each assigned member based on the task plan of each assigned member.

Claims

1. A system for collaboratively and autonomously planning and controlling a team of unmanned vehicles within an environment, said system comprising:

a mission planning component for creating a mission plan for a plurality of members of the team of unmanned vehicles, said mission planning component creating a task plan for an each said member based on the mission plan, said mission planning component deconflicting the task plans based on a changing situation of the environment, said mission planning component updating the mission plan and the task plans based on the changing situation of the environment;

a collaboration component for assigning members to the team and roles for the assigned members, said collaboration component updating membership and roles of the members based on the changing situation of the environment;

a situational awareness component for evaluating the changing situation of the environment based on information from the assigned members of the team;

a contingency management component for monitoring the changing situation of the environment, changes of capabilities of the assigned members of the team, and execution of the mission plan and task plans, said contingency management component determining whether to update any of the group consisting of the mission plan and the task plans; and

a vehicle management component for controlling movement of each assigned member based on the task plan of each assigned member.

2. The system as set forth in claim 1 further including a resource meta-control component for providing processing and memory resources for each assigned member of the team.

3. The system as set forth in claim 1 wherein said system collaboratively and autonomously plans and controls a plurality of teams of unmanned vehicles within the environment.

4. The system as set forth in claim 1 wherein said mission planning component is located onboard a member of the team of vehicles.

5. The system as set forth in claim 1 wherein said mission planning component develops a collaborative synchronized plan for the team of vehicles, said plan governing sensor deployment, flight paths, communication, and engagements.

6. The system as set forth in claim 1 wherein said mission planning component further governs information dissemination to the members of the team of vehicles.

7. The system as set forth in claim 1 wherein said contingency management component detects a contingency, assessing an impact of the contingency, and identifying the contingency as a mission plan violation.

8. The system as set forth in claim 1 wherein said contingency management component issues alerts to the assigned members that the mission plan no longer satisfies objectives and constraints.

9. The system as set forth in claim 1 wherein said collaboration component dynamically re-teams the assigned members and other members for executing another mission plan.

10. A computer readable medium having a computer program product for collaboratively and autonomously planning and controlling a team of unmanned vehicles within an environment, said computer program product comprising:

a first instruction for creating a mission plan for a plurality of members of the team of unmanned vehicles;

a second instruction for creating a task plan for an each member based on the mission plan;

a third instruction for deconflicting the task plans based on a changing situation of the environment;

a fourth instruction for updating the mission plan and the task plans based on the changing situation of the environment;

a fifth instruction for assigning members to the team and roles for the assigned members

a sixth instruction for updating membership and roles of the members based on the changing situation of the environment;

a seventh instruction for evaluating the changing situation of the environment based on information from the assigned members of the team;

an eighth instruction for monitoring the changing situation of the environment, changes of capabilities of the assigned members of the team, and execution of the mission plan and task plans;

a ninth instruction for determining whether to update any of the group consisting of the mission plan and the task plans; and

a tenth instruction for controlling movement of each assigned member based on the task plan of each assigned member.

11. The computer readable medium as set forth in claim 10 further including an eleventh instruction for distinguishing disciplines of each assigned member.

12. The computer readable medium as set forth in claim 10 further including an eleventh instruction for collaborating control of each assigned member with assets external to the team of vehicles.

13. The computer readable medium as set forth in claim 10 further including an eleventh instruction for performing a re-plan of the mission plan due to a contingency encountered by one of the assigned members.

14. The computer readable medium as set forth in claim 10 further including an eleventh instruction for detecting, identifying, and geo-locating each assigned member.

15. The computer readable medium as set forth in claim 10 further including an eleventh instruction for utilizing geographic information for performing said first instruction.

16. The computer readable medium as set forth in claim 10 further including an eleventh instruction for reallocating said task plans of said members.

17. The computer readable medium as set forth in claim 10 further including an eleventh instruction for creating another mission plan utilizing objectives, constraints, targets, and team capabilities.

18. The computer readable medium as set forth in claim 10 further including an eleventh instruction for routing messages to appropriate members of the assigned members.

19. The computer readable medium as set forth in claim 10 further including an eleventh instruction for gathering tactical and environmental information.

20. A method for collaboratively and autonomously planning and controlling a team of unmanned vehicles within an environment, said method comprising the steps of:

creating a mission plan for a plurality of members of the team of unmanned vehicles;

creating a task plan for an each member based on the mission plan;

deconflicting the task plans based on a changing situation of the environment;

updating the mission plan and the task plans based on the changing situation of the environment;

assigning members to the team and roles for the assigned members;

updating membership and roles of the members based on the changing situation of the environment;

evaluating the changing situation of the environment based on information from the assigned members of the team;

monitoring the changing situation of the environment, changes of capabilities of the assigned members of the team, and execution of the mission plan and task plans;

determining whether to update any of the group consisting of the mission plan and the task plans; and

controlling movement of each assigned member based on the task plan of each assigned member.